/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "motor.h"
#include "encoder.h"
#include "control.h"
#include "IR.h"
#include "tasks.h"
#include "RFID.h"
#include "sr04.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
//extern Motor motors;
extern ControlChannel channels[4];
extern int motorSpeed[4];
extern PID motorPID[4];
extern uint8_t state;
extern _Bool stopFlag;
extern _Bool rfidFlag;
extern uint8_t cardID[7];
extern uint8_t recvBuff[30];
extern uint8_t searchSend[];
extern _Bool runFlag;
extern Stuff currentStuff;
extern float distant;
extern _Bool detectFlag;
//extern uint8_t cardID[7];
int speedX, speedY, speedZ;
int speed;
int vx, vy, vz;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_TIM5_Init();
  MX_TIM8_Init();
  MX_TIM2_Init();
  MX_TIM6_Init();
  MX_I2C1_Init();
  MX_USART2_UART_Init();
  MX_TIM1_Init();
  /* USER CODE BEGIN 2 */
  motorInit();
  encoderInit();
  nfcInit();

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
//      motorSetPWM(&channels[0], 250);
//      motorSetPWM(&channels[1], 250);
//      motorSetPWM(&channels[2], 250);
//      motorSetPWM(&channels[3], 250);
	  carTask();
//	  nfcSearch();
      
//      motorSetPWM(&channels[0], -250);
//      nfcSearch();
//      HAL_Delay(500);
//      getIR();
      
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
    if (htim->Instance == htim6.Instance)
    {
		SR04_GetData();
		getSpeed();
		
		if(distant < 40)
		{
			detectFlag = 1;
		}
		else
		{
			detectFlag = 0;
		}
		
//		if(detectFlag == 1)
//		{
//			carSetSpeed(0, 0, 0);
//		}
		
		if(stopFlag || rfidFlag)
		{
			runFlag = 0;
			stopFlag = 0;
			rfidFlag = 0;
		}
		
		if(runFlag && !detectFlag)
		{
			carSetSpeed(speedX, speedY, speedZ);
		}
		else
		{
			carSetSpeed(0, 0, 0);
		}
//        motorSetSpeed(250, 1);
        
//        carSetSpeed(0, 0, 250);
//        printf("%d\n", motorSpeed[0]);
    }
}

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	if(huart->Instance == USART2)
	{
		uint8_t i = 0;
		for(i = 0; i < 7; i++)
        {
            cardID[i] = recvBuff[i + 13];
        }
		
		for(i = 0; i < 30; i++)
        {
            recvBuff[i] = 0;
        }
		
		if((currentStuff.id[0] == cardID[0]) && (currentStuff.id[1] == cardID[1]))
		{
			rfidFlag = 1;
		}
		
		HAL_UART_Transmit(&huart1, cardID, 7, 0xFFFF);
		HAL_UART_Transmit(&huart2, searchSend, 11, 0xFFFF);
		HAL_UART_Receive(&huart2, recvBuff, 6, 0xFFFF);
		HAL_UART_Receive_IT(&huart2, recvBuff, 22);
	}
}

int fputc(int ch, FILE *f)
 {
     HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xffff);
     return ch;
 }

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
